航天器预定时间避碰编队跟踪的CBF控制策略

Prescribed-time collision-free formation tracking control for multiple spacecraft using control barrier functions

摘要:

为了显著提升航天器编队协同控制的响应速度,满足严格时间窗口的编队任务要求,设计一种新型预定时间保性能控制框架。该框架旨在同时应对编队系统中普遍存在的3个关键问题:航天器感知范围受限、执行机构饱和约束及编队成员间的碰撞规避。首先,结合误差转换技术与滑模控制方法,构建了控制李雅普诺夫函数条件,不仅能保障系统在预定时间内实现编队目标,同时保证了预设的瞬态响应性能和稳态精度。其次,通过引入高阶控制障碍函数,实现了对相邻航天器间相对距离的精确管控,在维持编队通信拓扑连通性的同时,有效规避了碰撞风险。进一步,采用二次规划方法求解最优控制量,在考虑执行机构饱和约束的前提下,实现了预定时间收敛、拓扑连通保持和碰撞规避的多目标协同优化。最后,通过数值仿真对所提控制框架的有效性进行了系统验证,结果表明,该方案在满足多种约束条件下具有良好的控制性能和可靠性。

Abstract:

To significantly enhance the response speed of spacecraft formation coordination and meet strict time-window requirements for formation missions, this paper develops a novel prescribed-time performance-guaranteed control framework. This framework effectively addresses three critical challenges prevalent in formation systems: limited perception range, actuator saturation constraints, and inter-agent collision avoidance requirements. First, by integrating error transformation technique with sliding mode control, a control Lyapunov function condition is constructed. This design not only ensures the system meets strict timing requirements for formation tasks, but also guarantees prescribed transient response characteristics and steady-state performance metrics. Second, through the establishment of high-order control barrier functions, precise regulation of relative distances between adjacent spacecraft is achieved, maintaining formation communication topology connectivity while effectively preventing collision risks. Furthermore, this study employs quadratic programming to solve for optimal control inputs, realizing multi-objective coordinated optimization of prescribed-time convergence, topology connectivity maintenance, and collision avoidance control under actuator saturation constraints. To validate the effectiveness of the proposed control framework, systematic performance verification is conducted through numerical simulations. The simulation results fully demonstrate the reliability and superiority of the proposed control scheme in satisfying all specified constraints.